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1、Proceedingsofthe2002IEEEInternationalConferenceonRoboticsISAutomationWashington,DCMay2002RunningPatternGenerationforaHumanoidRobotShuujiKajita(AIST),TakashiNagasaki(U.ofTsukuba),KazuhitoYokoi,KenjiKanekoandKazuoTanie(AIST)1-1-1Umezono,TsukubaCentral2,AIST,TsukubaIbaraki305-8568,JapanE
2、-mail:s.kajita@aist.go.jpAbstractcontrolstrategy,theycreatedanelectricallypoweredrunningrobotthatcouldrunat4.5km/hwithapowerAmethodofrunningpatterngenerationforahu-expenditureofonly48W.manoidrobotusingthedynamicsofasimpleinvertedGiengeretal.arealsoworkingtowardtherealiza-pendulumispro
3、posed.Dynamicsimulationusingationofabipedjoggingrobot[2].Theyhaveproposedmodelofanactualhumanoidrobotshowsthattherobotawalkinglrunningcontrollerbasedonfeedbacklin-canrunbyapplyingageneratedpatternwithslightearizationandbuiltahumanoidrobotcalled“John-modifications.Thesimulationisusedto
4、evaluatethenie.”requiredperformanceofactuatorsforanactualrun-ningrobot.1IntroductionResearchonhumanoidrobotsiscurrentlyoneofthemostexcitingtopicsinthefieldofroboticsandtherearemanyongoingprojects[4,11,7,6,2].Moststudiesfocusonbipedwalkingandhavealreadydemonstratedreliabledynamicbipedw
5、alking.Watchingthosesuc-cessfuldemonstrations,wenaturallywantedtoask,‘Canwebuildarunninghumanoid?”Webelieveitisaworthwhiletechnicalchallengeforthefollowingreasons.First,studyofrunningwilladdnewfunctionsofmobilitytohumanoidrobots.Forex-ample,jumpingoverlargeobstaclesorafissuremightFigu
6、re1:HRPlhumanoidrobotandrunningsimula-beachievedusingaderivativeofrunningcontrol.Sec-tionond,studyingextremesituationswillgiveusinsightsintoimprovethehardwareitself.Currentrobotsaretoofragiletooperateinvariousenvironments.WeInthispaper,wediscussrunningasanextendedmusttreatthemcarefull
7、y,eveninanexperimentoffunctionoftheexistingHRPlhumanoidrobot(Fig-walkingatlowspeed.Weexpecttoovercomethisure1).Althoughactualexperimentsarenotpossible,fragilityintheprocessofdevelopingarunninghu-wecouldsimulaterunningusingtheactualphysicalmanoid.parametersofHRP1.Runningrobotshavebeeni
8、ntens
